Upload folder using huggingface_hub
Browse files
config.json
ADDED
|
@@ -0,0 +1,107 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "groot",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.images.headcam": {
|
| 6 |
+
"type": "VISUAL",
|
| 7 |
+
"shape": [
|
| 8 |
+
3,
|
| 9 |
+
480,
|
| 10 |
+
640
|
| 11 |
+
]
|
| 12 |
+
},
|
| 13 |
+
"observation.images.camera_01": {
|
| 14 |
+
"type": "VISUAL",
|
| 15 |
+
"shape": [
|
| 16 |
+
3,
|
| 17 |
+
480,
|
| 18 |
+
640
|
| 19 |
+
]
|
| 20 |
+
},
|
| 21 |
+
"observation.images.camera_02": {
|
| 22 |
+
"type": "VISUAL",
|
| 23 |
+
"shape": [
|
| 24 |
+
3,
|
| 25 |
+
480,
|
| 26 |
+
640
|
| 27 |
+
]
|
| 28 |
+
},
|
| 29 |
+
"observation.state": {
|
| 30 |
+
"type": "STATE",
|
| 31 |
+
"shape": [
|
| 32 |
+
16
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"output_features": {
|
| 37 |
+
"action": {
|
| 38 |
+
"type": "ACTION",
|
| 39 |
+
"shape": [
|
| 40 |
+
16
|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"device": "cuda",
|
| 45 |
+
"use_amp": false,
|
| 46 |
+
"use_peft": false,
|
| 47 |
+
"push_to_hub": false,
|
| 48 |
+
"repo_id": null,
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
+
"license": null,
|
| 52 |
+
"pretrained_path": null,
|
| 53 |
+
"pretrained_revision": null,
|
| 54 |
+
"chunk_size": 40,
|
| 55 |
+
"n_action_steps": 40,
|
| 56 |
+
"max_state_dim": 132,
|
| 57 |
+
"max_action_dim": 132,
|
| 58 |
+
"normalization_mapping": {
|
| 59 |
+
"VISUAL": "IDENTITY",
|
| 60 |
+
"STATE": "IDENTITY",
|
| 61 |
+
"ACTION": "IDENTITY"
|
| 62 |
+
},
|
| 63 |
+
"base_model_path": "nvidia/GR00T-N1.7-3B",
|
| 64 |
+
"action_decode_transform": null,
|
| 65 |
+
"embodiment_tag": "new_embodiment",
|
| 66 |
+
"tune_llm": false,
|
| 67 |
+
"tune_visual": false,
|
| 68 |
+
"tune_projector": true,
|
| 69 |
+
"tune_diffusion_model": true,
|
| 70 |
+
"tune_vlln": true,
|
| 71 |
+
"tune_top_llm_layers": 0,
|
| 72 |
+
"num_inference_timesteps": null,
|
| 73 |
+
"rtc_ramp_rate": null,
|
| 74 |
+
"use_flash_attention": false,
|
| 75 |
+
"use_relative_actions": false,
|
| 76 |
+
"relative_exclude_joints": [],
|
| 77 |
+
"optimizer_lr": 0.0001,
|
| 78 |
+
"optimizer_betas": [
|
| 79 |
+
0.9,
|
| 80 |
+
0.999
|
| 81 |
+
],
|
| 82 |
+
"optimizer_eps": 1e-08,
|
| 83 |
+
"optimizer_weight_decay": 1e-05,
|
| 84 |
+
"warmup_ratio": 0.05,
|
| 85 |
+
"use_bf16": true,
|
| 86 |
+
"model_params_fp32": true,
|
| 87 |
+
"image_size": [
|
| 88 |
+
256,
|
| 89 |
+
256
|
| 90 |
+
],
|
| 91 |
+
"tokenizer_assets_repo": null,
|
| 92 |
+
"lora_rank": 0,
|
| 93 |
+
"lora_alpha": 16,
|
| 94 |
+
"lora_dropout": 0.1,
|
| 95 |
+
"lora_full_model": false,
|
| 96 |
+
"video_backend": "decord",
|
| 97 |
+
"balance_dataset_weights": true,
|
| 98 |
+
"balance_trajectory_weights": true,
|
| 99 |
+
"dataset_paths": null,
|
| 100 |
+
"output_dir": "./tmp/gr00t",
|
| 101 |
+
"save_steps": 1000,
|
| 102 |
+
"max_steps": 10000,
|
| 103 |
+
"batch_size": 32,
|
| 104 |
+
"dataloader_num_workers": 8,
|
| 105 |
+
"report_to": "wandb",
|
| 106 |
+
"resume": false
|
| 107 |
+
}
|
model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8bcf6a45e8b1c696c749cd17925481230efd197ded3aedbb7ce2bad96c264594
|
| 3 |
+
size 12576215296
|
policy_postprocessor.json
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "groot_action_unpack_unnormalize_v2",
|
| 6 |
+
"config": {
|
| 7 |
+
"env_action_dim": 16,
|
| 8 |
+
"normalize_min_max": true,
|
| 9 |
+
"clip_normalized_action": true,
|
| 10 |
+
"libero_gripper_action": false,
|
| 11 |
+
"libero_gripper_binarize": true
|
| 12 |
+
},
|
| 13 |
+
"state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"registry_name": "device_processor",
|
| 17 |
+
"config": {
|
| 18 |
+
"device": "cpu",
|
| 19 |
+
"float_dtype": null
|
| 20 |
+
}
|
| 21 |
+
}
|
| 22 |
+
]
|
| 23 |
+
}
|
policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6accb9fd619c79ce4a772c9c361f21154365f3928b0bb97fd85e2ca492f26246
|
| 3 |
+
size 11160
|
policy_preprocessor.json
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {}
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
{
|
| 11 |
+
"registry_name": "to_batch_processor",
|
| 12 |
+
"config": {}
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"registry_name": "groot_n1_7_pack_inputs_v1",
|
| 16 |
+
"config": {
|
| 17 |
+
"state_horizon": 1,
|
| 18 |
+
"action_horizon": 40,
|
| 19 |
+
"valid_action_horizon": 40,
|
| 20 |
+
"video_horizon": null,
|
| 21 |
+
"max_state_dim": 132,
|
| 22 |
+
"max_action_dim": 132,
|
| 23 |
+
"language_key": "task",
|
| 24 |
+
"formalize_language": true,
|
| 25 |
+
"embodiment_tag": "new_embodiment",
|
| 26 |
+
"embodiment_mapping": {
|
| 27 |
+
"oxe_droid_relative_eef_relative_joint": 24,
|
| 28 |
+
"xdof_relative_eef_relative_joint": 27,
|
| 29 |
+
"xdof_relative_eef_relative_joint_subtask": 27,
|
| 30 |
+
"real_g1_relative_eef_relative_joints": 25,
|
| 31 |
+
"real_r1_pro_sharpa_relative_eef": 26,
|
| 32 |
+
"real_r1_pro_sharpa_relative_eef_human": 26,
|
| 33 |
+
"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
|
| 34 |
+
"real_r1_pro_sharpa_relative_eef_mecka": 26,
|
| 35 |
+
"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
|
| 36 |
+
"simpler_env_google": 0,
|
| 37 |
+
"simpler_env_widowx": 1,
|
| 38 |
+
"libero_sim": 2,
|
| 39 |
+
"new_embodiment": 10
|
| 40 |
+
},
|
| 41 |
+
"normalize_min_max": true,
|
| 42 |
+
"state_dropout_prob": 0.0,
|
| 43 |
+
"clip_outliers": true,
|
| 44 |
+
"use_percentiles": false,
|
| 45 |
+
"video_modality_keys": null,
|
| 46 |
+
"raw_stats": null,
|
| 47 |
+
"modality_config": null
|
| 48 |
+
},
|
| 49 |
+
"state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"registry_name": "groot_n1_7_vlm_encode_v1",
|
| 53 |
+
"config": {
|
| 54 |
+
"model_name": "nvidia/Cosmos-Reason2-2B",
|
| 55 |
+
"image_crop_size": [
|
| 56 |
+
230,
|
| 57 |
+
230
|
| 58 |
+
],
|
| 59 |
+
"image_target_size": [
|
| 60 |
+
256,
|
| 61 |
+
256
|
| 62 |
+
],
|
| 63 |
+
"shortest_image_edge": null,
|
| 64 |
+
"crop_fraction": null,
|
| 65 |
+
"use_albumentations": false,
|
| 66 |
+
"letter_box_transform": false,
|
| 67 |
+
"device": "cuda"
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"registry_name": "device_processor",
|
| 72 |
+
"config": {
|
| 73 |
+
"device": "cuda",
|
| 74 |
+
"float_dtype": null
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
]
|
| 78 |
+
}
|
policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6accb9fd619c79ce4a772c9c361f21154365f3928b0bb97fd85e2ca492f26246
|
| 3 |
+
size 11160
|
train_config.json
ADDED
|
@@ -0,0 +1,260 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "local/20260930",
|
| 4 |
+
"repo_type": "dataset",
|
| 5 |
+
"root": "/home/irteam/datasets/20260930",
|
| 6 |
+
"episodes": null,
|
| 7 |
+
"image_transforms": {
|
| 8 |
+
"enable": false,
|
| 9 |
+
"max_num_transforms": 3,
|
| 10 |
+
"random_order": false,
|
| 11 |
+
"tfs": {
|
| 12 |
+
"brightness": {
|
| 13 |
+
"weight": 1.0,
|
| 14 |
+
"type": "ColorJitter",
|
| 15 |
+
"kwargs": {
|
| 16 |
+
"brightness": [
|
| 17 |
+
0.8,
|
| 18 |
+
1.2
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"contrast": {
|
| 23 |
+
"weight": 1.0,
|
| 24 |
+
"type": "ColorJitter",
|
| 25 |
+
"kwargs": {
|
| 26 |
+
"contrast": [
|
| 27 |
+
0.8,
|
| 28 |
+
1.2
|
| 29 |
+
]
|
| 30 |
+
}
|
| 31 |
+
},
|
| 32 |
+
"saturation": {
|
| 33 |
+
"weight": 1.0,
|
| 34 |
+
"type": "ColorJitter",
|
| 35 |
+
"kwargs": {
|
| 36 |
+
"saturation": [
|
| 37 |
+
0.5,
|
| 38 |
+
1.5
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"hue": {
|
| 43 |
+
"weight": 1.0,
|
| 44 |
+
"type": "ColorJitter",
|
| 45 |
+
"kwargs": {
|
| 46 |
+
"hue": [
|
| 47 |
+
-0.05,
|
| 48 |
+
0.05
|
| 49 |
+
]
|
| 50 |
+
}
|
| 51 |
+
},
|
| 52 |
+
"sharpness": {
|
| 53 |
+
"weight": 1.0,
|
| 54 |
+
"type": "SharpnessJitter",
|
| 55 |
+
"kwargs": {
|
| 56 |
+
"sharpness": [
|
| 57 |
+
0.5,
|
| 58 |
+
1.5
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"affine": {
|
| 63 |
+
"weight": 1.0,
|
| 64 |
+
"type": "RandomAffine",
|
| 65 |
+
"kwargs": {
|
| 66 |
+
"degrees": [
|
| 67 |
+
-5.0,
|
| 68 |
+
5.0
|
| 69 |
+
],
|
| 70 |
+
"translate": [
|
| 71 |
+
0.05,
|
| 72 |
+
0.05
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"revision": null,
|
| 79 |
+
"use_imagenet_stats": true,
|
| 80 |
+
"video_backend": "pyav",
|
| 81 |
+
"return_uint8": false,
|
| 82 |
+
"depth_output_unit": "mm",
|
| 83 |
+
"streaming": false,
|
| 84 |
+
"eval_split": 0.0
|
| 85 |
+
},
|
| 86 |
+
"env": null,
|
| 87 |
+
"policy": {
|
| 88 |
+
"type": "groot",
|
| 89 |
+
"n_obs_steps": 1,
|
| 90 |
+
"input_features": {
|
| 91 |
+
"observation.images.headcam": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"observation.images.camera_01": {
|
| 100 |
+
"type": "VISUAL",
|
| 101 |
+
"shape": [
|
| 102 |
+
3,
|
| 103 |
+
480,
|
| 104 |
+
640
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"observation.images.camera_02": {
|
| 108 |
+
"type": "VISUAL",
|
| 109 |
+
"shape": [
|
| 110 |
+
3,
|
| 111 |
+
480,
|
| 112 |
+
640
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"observation.state": {
|
| 116 |
+
"type": "STATE",
|
| 117 |
+
"shape": [
|
| 118 |
+
16
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"output_features": {
|
| 123 |
+
"action": {
|
| 124 |
+
"type": "ACTION",
|
| 125 |
+
"shape": [
|
| 126 |
+
16
|
| 127 |
+
]
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"device": "cuda",
|
| 131 |
+
"use_amp": false,
|
| 132 |
+
"use_peft": false,
|
| 133 |
+
"push_to_hub": false,
|
| 134 |
+
"repo_id": null,
|
| 135 |
+
"private": null,
|
| 136 |
+
"tags": null,
|
| 137 |
+
"license": null,
|
| 138 |
+
"pretrained_path": null,
|
| 139 |
+
"pretrained_revision": null,
|
| 140 |
+
"chunk_size": 40,
|
| 141 |
+
"n_action_steps": 40,
|
| 142 |
+
"max_state_dim": 132,
|
| 143 |
+
"max_action_dim": 132,
|
| 144 |
+
"normalization_mapping": {
|
| 145 |
+
"VISUAL": "IDENTITY",
|
| 146 |
+
"STATE": "IDENTITY",
|
| 147 |
+
"ACTION": "IDENTITY"
|
| 148 |
+
},
|
| 149 |
+
"base_model_path": "nvidia/GR00T-N1.7-3B",
|
| 150 |
+
"action_decode_transform": null,
|
| 151 |
+
"embodiment_tag": "new_embodiment",
|
| 152 |
+
"tune_llm": false,
|
| 153 |
+
"tune_visual": false,
|
| 154 |
+
"tune_projector": true,
|
| 155 |
+
"tune_diffusion_model": true,
|
| 156 |
+
"tune_vlln": true,
|
| 157 |
+
"tune_top_llm_layers": 0,
|
| 158 |
+
"num_inference_timesteps": null,
|
| 159 |
+
"rtc_ramp_rate": null,
|
| 160 |
+
"use_flash_attention": false,
|
| 161 |
+
"use_relative_actions": false,
|
| 162 |
+
"relative_exclude_joints": [],
|
| 163 |
+
"optimizer_lr": 0.0001,
|
| 164 |
+
"optimizer_betas": [
|
| 165 |
+
0.9,
|
| 166 |
+
0.999
|
| 167 |
+
],
|
| 168 |
+
"optimizer_eps": 1e-08,
|
| 169 |
+
"optimizer_weight_decay": 1e-05,
|
| 170 |
+
"warmup_ratio": 0.05,
|
| 171 |
+
"use_bf16": true,
|
| 172 |
+
"model_params_fp32": true,
|
| 173 |
+
"image_size": [
|
| 174 |
+
256,
|
| 175 |
+
256
|
| 176 |
+
],
|
| 177 |
+
"tokenizer_assets_repo": null,
|
| 178 |
+
"lora_rank": 0,
|
| 179 |
+
"lora_alpha": 16,
|
| 180 |
+
"lora_dropout": 0.1,
|
| 181 |
+
"lora_full_model": false,
|
| 182 |
+
"video_backend": "decord",
|
| 183 |
+
"balance_dataset_weights": true,
|
| 184 |
+
"balance_trajectory_weights": true,
|
| 185 |
+
"dataset_paths": null,
|
| 186 |
+
"output_dir": "./tmp/gr00t",
|
| 187 |
+
"save_steps": 1000,
|
| 188 |
+
"max_steps": 10000,
|
| 189 |
+
"batch_size": 32,
|
| 190 |
+
"dataloader_num_workers": 8,
|
| 191 |
+
"report_to": "wandb",
|
| 192 |
+
"resume": false
|
| 193 |
+
},
|
| 194 |
+
"reward_model": null,
|
| 195 |
+
"output_dir": "/home/irteam/datasets/train/20260930_groot",
|
| 196 |
+
"job_name": "20260930_groot",
|
| 197 |
+
"resume": false,
|
| 198 |
+
"seed": 1000,
|
| 199 |
+
"cudnn_deterministic": false,
|
| 200 |
+
"num_workers": 8,
|
| 201 |
+
"batch_size": 32,
|
| 202 |
+
"prefetch_factor": 4,
|
| 203 |
+
"persistent_workers": true,
|
| 204 |
+
"dataloader_multiprocessing_context": "spawn",
|
| 205 |
+
"steps": 30000,
|
| 206 |
+
"env_eval_freq": 20000,
|
| 207 |
+
"log_freq": 50,
|
| 208 |
+
"eval_steps": 0,
|
| 209 |
+
"max_eval_samples": 0,
|
| 210 |
+
"tolerance_s": 0.0001,
|
| 211 |
+
"save_checkpoint": true,
|
| 212 |
+
"save_freq": 2000,
|
| 213 |
+
"use_policy_training_preset": true,
|
| 214 |
+
"optimizer": {
|
| 215 |
+
"type": "adamw",
|
| 216 |
+
"lr": 0.0001,
|
| 217 |
+
"weight_decay": 1e-05,
|
| 218 |
+
"grad_clip_norm": 1.0,
|
| 219 |
+
"betas": [
|
| 220 |
+
0.9,
|
| 221 |
+
0.999
|
| 222 |
+
],
|
| 223 |
+
"eps": 1e-08
|
| 224 |
+
},
|
| 225 |
+
"scheduler": {
|
| 226 |
+
"type": "diffuser",
|
| 227 |
+
"num_warmup_steps": 500,
|
| 228 |
+
"name": "cosine"
|
| 229 |
+
},
|
| 230 |
+
"eval": {
|
| 231 |
+
"n_episodes": 50,
|
| 232 |
+
"batch_size": 50,
|
| 233 |
+
"use_async_envs": true,
|
| 234 |
+
"recording": false,
|
| 235 |
+
"recording_repo_id": null,
|
| 236 |
+
"recording_private": false
|
| 237 |
+
},
|
| 238 |
+
"wandb": {
|
| 239 |
+
"enable": false,
|
| 240 |
+
"disable_artifact": false,
|
| 241 |
+
"project": "lerobot",
|
| 242 |
+
"entity": null,
|
| 243 |
+
"notes": null,
|
| 244 |
+
"run_id": null,
|
| 245 |
+
"mode": null,
|
| 246 |
+
"add_tags": true
|
| 247 |
+
},
|
| 248 |
+
"peft": null,
|
| 249 |
+
"job": {
|
| 250 |
+
"target": null,
|
| 251 |
+
"image": "huggingface/lerobot-gpu:latest",
|
| 252 |
+
"timeout": "2d",
|
| 253 |
+
"detach": false,
|
| 254 |
+
"tags": []
|
| 255 |
+
},
|
| 256 |
+
"save_checkpoint_to_hub": false,
|
| 257 |
+
"sample_weighting": null,
|
| 258 |
+
"rename_map": {},
|
| 259 |
+
"checkpoint_path": null
|
| 260 |
+
}
|